相关论文: Monocular Semantic Occupancy Grid Mapping with Con…

We present an approach that learns to synthesize high-quality, novel views of 3D objects or scenes, while providing fine-grained and precise control over the 6-DOF viewpoint. The approach is self-supervised and only requires 2D images and…

Modern approaches for vision-centric environment perception for autonomous navigation make extensive use of self-supervised monocular depth estimation algorithms that output disparity maps. However, when this disparity map is projected onto…

Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the scan plane. We…

Long-term situation prediction plays a crucial role in the development of intelligent vehicles. A major challenge still to overcome is the prediction of complex downtown scenarios with multiple road users, e.g., pedestrians, bikes, and…

3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models…

Environment perception, including object detection and distance estimation, is one of the most crucial tasks for autonomous driving. Many attentions have been paid on the object detection task, but distance estimation only arouse few…

Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but…

Recent work has shown that CNN-based depth and ego-motion estimators can be learned using unlabelled monocular videos. However, the performance is limited by unidentified moving objects that violate the underlying static scene assumption in…

Accurately estimating the position of static objects, such as traffic lights, from the moving camera of a self-driving car is a challenging problem. In this work, we present a system that improves the localization of static objects by…

In this work we present a monocular visual odometry (VO) algorithm which leverages geometry-based methods and deep learning. Most existing VO/SLAM systems with superior performance are based on geometry and have to be carefully designed for…

A reliable sense-and-avoid system is critical to enabling safe autonomous operation of unmanned aircraft. Existing sense-and-avoid methods often require specialized sensors that are too large or power intensive for use on small unmanned…

Today's mobile robots are expected to operate in complex environments they share with humans. To allow intuitive human-robot collaboration, robots require a human-like understanding of their surroundings in terms of semantically classified…

Awareness of the road scene is an essential component for both autonomous vehicles and Advances Driver Assistance Systems and is gaining importance both for the academia and car companies. This paper presents a way to learn a semantic-aware…

An environment representation (ER) is a substantial part of every autonomous system. It introduces a common interface between perception and other system components, such as decision making, and allows downstream algorithms to deal with…

We present a method for trajectory planning for autonomous driving, learning image-based context embeddings that align with motion prediction frameworks and planning-based intention input. Within our method, a ViT encoder takes raw images…

In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…

We present SOccDPT, a memory-efficient approach for 3D semantic occupancy prediction from monocular image input using dense prediction transformers. To address the limitations of existing methods trained on structured traffic datasets, we…

Visual relationship detection aims to identify objects and their relationships in images. Prior methods approach this task by adding separate relationship modules or decoders to existing object detection architectures. This separation…

The comprehensive representation and understanding of the driving environment is crucial to improve the safety and reliability of autonomous vehicles. In this paper, we present a new approach to establish an environment model containing a…

Self-supervised learning for monocular depth estimation is widely investigated as an alternative to supervised learning approach, that requires a lot of ground truths. Previous works have successfully improved the accuracy of depth…